682 lines
21 KiB
C
682 lines
21 KiB
C
/*
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裁判系统抽象。
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*/
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include <cmsis_os2.h>
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#include <stdbool.h>
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#include "component\cmd.h"
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#include "component\ui.h"
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#include "component\user_math.h"
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#include "device\can.h"
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#include "device\device.h"
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/* Exported constants ------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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#define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat))
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#define CHASSIS_POWER_MAX_WITHOUT_REF 2000.0f /* 裁判系统离线底盘最大功率 */
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#define REF_UI_MAX_GRAPIC_NUM (7) /* 最大图形数量 */
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#define REF_UI_MAX_STRING_NUM (7) /* 最大字符串数量 */
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#define REF_UI_MAX_DEL_NUM (3) /* 最大删除数量 */
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/* Exported types ----------------------------------------------------------- */
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typedef struct __packed {
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uint8_t sof;
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uint16_t data_length;
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uint8_t seq;
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uint8_t crc8;
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} Referee_Header_t;
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typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t;
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typedef enum {
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REF_CMD_ID_GAME_STATUS = 0x0001, //比赛状态数据，固定以1Hz频率发送
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REF_CMD_ID_GAME_RESULT = 0x0002, //比赛结果数据，比赛结束触发发送
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REF_CMD_ID_GAME_ROBOT_HP = 0x0003, //机器人血量数据，固定以3Hz频率发送
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//REF_CMD_ID_DART_STATUS = 0x0004,
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// REF_CMD_ID_ICRA_ZONE_STATUS = 0x0005,
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REF_CMD_ID_FIELD_EVENTS = 0x0101, //场地事件数据，固定以1Hz频率发送
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//REF_CMD_ID_SUPPLY_ACTION = 0x0102,
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//REF_CMD_ID_REQUEST_SUPPLY = 0x0103,
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REF_CMD_ID_WARNING = 0x0104, //裁判警告数据
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REF_CMD_ID_DART_COUNTDOWN = 0x0105, //飞镖发射相关数据
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REF_CMD_ID_ROBOT_STATUS = 0x0201, //机器人性能体系数据
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REF_CMD_ID_POWER_HEAT_DATA = 0x0202, //实时底盘缓冲能量和射击热量数据
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REF_CMD_ID_ROBOT_POS = 0x0203, //机器人位置数据
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REF_CMD_ID_ROBOT_BUFF = 0x0204, //机器人增益和底盘能量数据
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//REF_CMD_ID_DRONE_ENERGY = 0x0205,
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REF_CMD_ID_ROBOT_DMG = 0x0206, //伤害状态数据
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REF_CMD_ID_SHOOT_DATA = 0x0207, //实时射击数据
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REF_CMD_ID_BULLET_REMAINING = 0x0208, //允许发弹量
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REF_CMD_ID_RFID = 0x0209, //机器人RFID模块状态
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REF_CMD_ID_DART_CLIENT = 0x020A, //飞镖选手端指令数据
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REF_CMD_ID_ROBOT_POS_TO_SENTRY = 0X020B, //地面机器人位置数据
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REF_CMD_ID_RADAR_MARK = 0X020C, //雷达标记进度数据
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REF_CMD_ID_SENTRY_DECISION = 0x020D, //哨兵自主决策相关信息同步
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REF_CMD_ID_RADAR_DECISION = 0x020E, //雷达自主决策相关信息同步
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REF_CMD_ID_INTER_STUDENT = 0x0301, //机器人交互数据
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REF_CMD_ID_INTER_STUDENT_CUSTOM = 0x0302, //自定义控制器与机器人交互数据
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REF_CMD_ID_CLIENT_MAP = 0x0303, //选手端小地图交互数据
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REF_CMD_ID_KEYBOARD_MOUSE = 0x0304, //键鼠遥控数据
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REF_CMD_ID_MAP_ROBOT_DATA = 0x0305, //选手端小地图接收雷达数据
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REF_CMD_ID_CUSTOM_KEYBOARD_MOUSE = 0X0306, //自定义控制器与选手端交互数据
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REF_CMD_ID_SENTRY_POS_DATA = 0x0307, //选手端小地图接收哨兵数据
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REF_CMD_ID_ROBOT_POS_DATA = 0x0308, //选手端小地图接受机器人消息
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REF_CMD_ID_DATA = 0x0309, //自定义控制器接收机器人数据
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} Referee_CMDID_t;
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typedef struct __packed {
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uint8_t game_type : 4;
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uint8_t game_progress : 4;
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uint16_t stage_remain_time;
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uint64_t sync_time_stamp;
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} Referee_GameStatus_t;/* 0x0001 */
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typedef struct __packed {
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uint8_t winner;
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} Referee_GameResult_t;/* 0x0002 */
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typedef struct __packed {
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uint16_t red_1;
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uint16_t red_2;
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uint16_t red_3;
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uint16_t red_4;
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uint16_t reserved;
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uint16_t red_7;
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uint16_t red_outpose;
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uint16_t red_base;
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uint16_t blue_1;
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uint16_t blue_2;
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uint16_t blue_3;
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uint16_t blue_4;
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uint16_t reserved1;
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uint16_t blue_7;
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uint16_t blue_outpose;
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uint16_t blue_base;
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} Referee_GameRobotHP_t;/* 0x0003 */
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typedef struct __packed {
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uint8_t dart_belong;
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uint16_t stage_remain_time;
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} Referee_DartStatus_t;
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typedef struct __packed {
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uint8_t f1_status : 1;
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uint8_t f1_buff_status : 3;
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uint8_t f2_status : 1;
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uint8_t f2_buff_status : 3;
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uint8_t f3_status : 1;
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uint8_t f3_buff_status : 3;
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uint8_t f4_status : 1;
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uint8_t f4_buff_status : 3;
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uint8_t f5_status : 1;
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uint8_t f5_buff_status : 3;
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uint8_t f6_status : 1;
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uint8_t f6_buff_status : 3;
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uint16_t red1_bullet_remain;
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uint16_t red2_bullet_remain;
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uint16_t blue1_bullet_remain;
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uint16_t blue2_bullet_remain;
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} Referee_ICRAZoneStatus_t;
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typedef struct __packed {
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uint32_t exchange_nooverlap_status : 1;
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uint32_t exchange_overlap_status : 1;
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uint32_t supply_status : 1;
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uint32_t energy_mech_small_status : 1;
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uint32_t energy_mech_big_status : 1;
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uint32_t highland_annular : 2;
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uint32_t highland_trapezium_1 : 2;
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uint32_t last_hit_time : 9;
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uint32_t last_hit_target : 3;
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uint32_t activation_status : 2;
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uint32_t res : 9;
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} Referee_FieldEvents_t;/* 0x0101 */
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typedef struct __packed {
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uint8_t supply_id;
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uint8_t robot_id;
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uint8_t supply_step;
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uint8_t supply_sum;
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} Referee_SupplyAction_t;/* 0x0102 */
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typedef struct __packed {
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uint8_t place_holder; /* TODO */
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} Referee_RequestSupply_t;/* 0x0103 */
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typedef struct __packed {
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uint8_t level;
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uint8_t robot_id;
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uint8_t count;
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} Referee_Warning_t;/* 0x0104 */
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typedef struct __packed {
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uint8_t countdown;
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uint16_t dart_last_target : 3;
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uint16_t attack_count : 2;
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uint16_t dart_target : 2;
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uint16_t res : 8;
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} Referee_DartCountdown_t;/* 0x0105 */
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typedef struct __packed {
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uint8_t robot_id;
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uint8_t robot_level;
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uint16_t remain_hp;
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uint16_t max_hp;
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uint16_t shooter_cooling_value;
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uint16_t shooter_heat_limit;
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uint16_t chassis_power_limit;
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uint8_t power_gimbal_output : 1;
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uint8_t power_chassis_output : 1;
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uint8_t power_shoot_output : 1;
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} Referee_RobotStatus_t; /* 0x0201 */
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typedef struct __packed {
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uint16_t chassis_volt;
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uint16_t chassis_amp;
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float chassis_watt;
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uint16_t chassis_pwr_buff;
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uint16_t shoot_id1_17_heat;
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uint16_t shoot_id2_17_heat;
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uint16_t shoot_42_heat;
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} Referee_PowerHeat_t; /* 0x0202 */
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typedef struct __packed {
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float x;
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float y;
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float z;
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float yaw;
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} Referee_RobotPos_t; /* 0x0203 */
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typedef struct __packed {
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uint8_t healing_buff;
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uint8_t cooling_acc;
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uint8_t defense_buff;
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uint8_t vulnerability_buff;
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uint16_t attack_buff;
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uint8_t remaining_energy;
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} Referee_RobotBuff_t; /* 0x0204 */
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typedef struct __packed {
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uint8_t attack_countdown;
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} Referee_DroneEnergy_t; /* 0x0205 *///删
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typedef struct __packed {
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uint8_t armor_id : 4;
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uint8_t damage_type : 4;
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} Referee_RobotDamage_t; /* 0x0206 */
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typedef struct __packed {
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uint8_t bullet_type;
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uint8_t shooter_id;
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uint8_t bullet_freq;
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float bullet_speed;
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} Referee_ShootData_t;/* 0x0207 */
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typedef struct __packed {
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uint16_t bullet_17_remain;
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uint16_t bullet_42_remain;
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uint16_t coin_remain;
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} Referee_BulletRemain_t;/* 0x0208 */
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typedef struct __packed {
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uint32_t own_base : 1; //0
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uint32_t own_highland_annular : 1; //1
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uint32_t enemy_highland_annular : 1; //2
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uint32_t own_trapezium_R3B3 : 1; //3
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uint32_t enemy_trapezium_R3B3 : 1; //4
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uint32_t own_slope_before : 1; //坡道前5
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uint32_t own_slope_after : 1; //坡道后6
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uint32_t enemy_slope_before : 1; //坡道前7
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uint32_t enemy_slope_after : 1; //坡道后8
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uint32_t own_crosses_above : 1; //增益点 上方9
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uint32_t own_crosses_below : 1; //增益点 下方10
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uint32_t enemy_crosses_above : 1; //增益点 上方11
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uint32_t enemy_crosses_below : 1; //增益点 下方12
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uint32_t own_highway_above : 1; //公路 上方13
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uint32_t own_highway_below : 1; //公路 下方14
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uint32_t enemy_highway_above : 1; //公路 上方15
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uint32_t enemy_highway_below : 1; //公路 下方16
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uint32_t own_fortress : 1; //己方堡垒增益点17
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uint32_t own_outpost : 1; //己方前哨站增益点18
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uint32_t own_RMUL : 1; //己方RMUL增益点19
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uint32_t enemy_RMDL : 1; //敌方RMDL增益点20
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uint32_t own_island : 1; //己方资源岛 21
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uint32_t enemy_island : 1; //敌方资源岛 22
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uint32_t centre : 1; //中心 23
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uint32_t res : 8;
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} Referee_RFID_t;/* 0x0209 */
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typedef struct __packed {
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uint8_t opening_status;
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uint8_t target;
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uint16_t target_changable_countdown;
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uint16_t operator_cmd_launch_time;
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} Referee_DartClient_t;/* 0x020A */
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typedef struct __packed {
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float hero_x;
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float hero_y;
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float engineer_x;
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float engineer_y;
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float standard_3_x;
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float standard_3_y;
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float standard_4_x;
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float standard_4_y;
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float reserved;
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float reserved1;
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} Referee_Robot_Position_t;/* 0x020B */
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typedef struct __packed
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{
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uint8_t mark_hero_progress;
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uint8_t mark_engineer_progress;
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uint8_t mark_standard_3_progress;
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uint8_t mark_standard_4_progress;
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uint8_t mark_sentry_progress;
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}Referee_Radar_mark_data_t; /* 0x020C */
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typedef struct __packed
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{
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uint32_t exchanged_bullet_num : 11;
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uint32_t exchanged_bullet_times : 4;
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uint32_t exchanged_blood_times : 4;
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uint32_t Confirmation_resurrection : 1;
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uint32_t now_resurrection : 1;
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uint32_t money : 10;
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uint32_t res : 1;
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uint16_t state : 1;
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uint16_t quantity : 11;
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uint16_t res1 : 4;
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} Referee_Sentry_Info_t; /* 0x020D */
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typedef struct __packed
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{
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uint8_t qualification : 2;
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uint8_t enemy_status : 1;
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uint8_t res : 5;
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} Referee_Radar_Info_t; /* 0x020E */
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typedef struct __packed
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{
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uint16_t data_cmd_id; /* 子内容ID */
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uint16_t sender_id;
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uint16_t receiver_id;
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uint8_t user_data[112];
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} Referee_Interaction_Data_t; /* 0x0301 */
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typedef struct __packed
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{
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uint8_t data[30];
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} Referee_custom_robot_data_t; /* 0x0302 */
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typedef struct __packed {
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float position_x;
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float position_y;
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uint8_t commd_keyboard;
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uint8_t robot_id;
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uint8_t cmd_source;
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} Referee_ClientMap_t;/* 0x0303 */
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typedef struct __packed {
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int16_t mouse_x;
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int16_t mouse_y;
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int16_t mouse_wheel;
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int8_t button_l;
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int8_t button_r;
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uint16_t keyboard_value;
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uint16_t res;
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} Referee_KeyboardMouse_t;/* 0x0304 */
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typedef struct __packed {
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uint16_t hero_position_x;
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uint16_t hero_position_y;
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uint16_t engineer_position_x;
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uint16_t engineer_position_y;
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uint16_t infantry_3_position_x;
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uint16_t infantry_3_position_y;
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uint16_t infantry_4_position_x;
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uint16_t infantry_4_position_y;
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uint16_t infantry_5_position_x;
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uint16_t infantry_5_position_y;
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uint16_t sentry_position_x;
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uint16_t sentry_position_y;
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} Referee_map_robot_data_t;/* 0x0305 */
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typedef struct __packed {
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uint16_t key_value;
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uint16_t x_position : 12;
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uint16_t mouse_left : 4;
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uint16_t y_position : 12;
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uint16_t mouse_right : 4;
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uint16_t res;
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} Referee_custom_client_data_t; /* 0x0306 */
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typedef struct __packed {
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uint8_t intention;
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uint16_t start_position_x;
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uint16_t start_position_y;
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int8_t delta_x[49];
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int8_t delta_y[49];
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uint16_t sender_id;
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} Referee_map_data_t;/* 0x0307 */
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typedef struct __packed
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{
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uint16_t sender_id;
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uint16_t receiver_id;
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uint8_t user_data[30];
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}Referee_custom_info_t; /* 0x0308 */
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typedef struct __packed
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{
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uint8_t data[30];
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}Referee_robot_custom_data_t; /* 0x0309*/
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typedef uint16_t Referee_Tail_t;
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// typedef enum {
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// REF_BOT_RED_HERO = 1,
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// REF_BOT_RED_ENGINEER = 2,
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// REF_BOT_RED_INFANTRY_1 = 3,
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// REF_BOT_RED_INFANTRY_2 = 4,
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// REF_BOT_RED_INFANTRY_3 = 5,
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// REF_BOT_RED_DRONE = 6,
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// REF_BOT_RED_SENTRY = 7,
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// REF_BOT_RED_RADER = 9,
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// REF_BOT_BLU_HERO = 101,
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// REF_BOT_BLU_ENGINEER = 102,
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// REF_BOT_BLU_INFANTRY_1 = 103,
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// REF_BOT_BLU_INFANTRY_2 = 104,
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// REF_BOT_BLU_INFANTRY_3 = 105,
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// REF_BOT_BLU_DRONE = 106,
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// REF_BOT_BLU_SENTRY = 107,
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// REF_BOT_BLU_RADER = 109,
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// } Referee_RobotID_t;//
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typedef enum {
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REF_BOT_RED_HERO = 1,
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REF_BOT_RED_ENGINEER = 2,
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REF_BOT_RED_INFANTRY_1 = 3,
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REF_BOT_RED_INFANTRY_2 = 4,
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REF_BOT_RED_INFANTRY_3 = 5,
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REF_BOT_RED_DRONE = 6,
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REF_BOT_RED_SENTRY = 7,
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REF_BOT_RED_DART = 8,
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REF_BOT_RED_RADER = 9,
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REF_BOT_RED_OUTPOST = 10,
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REF_BOT_RED_BASE = 11,
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REF_BOT_BLU_HERO = 101,
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REF_BOT_BLU_ENGINEER = 102,
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REF_BOT_BLU_INFANTRY_1 = 103,
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REF_BOT_BLU_INFANTRY_2 = 104,
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REF_BOT_BLU_INFANTRY_3 = 105,
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REF_BOT_BLU_DRONE = 106,
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REF_BOT_BLU_SENTRY = 107,
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REF_BOT_BLU_DART = 108,
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REF_BOT_BLU_RADER = 109,
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REF_BOT_BLU_OUTPOST = 110,
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REF_BOT_BLU_BASE = 111,
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} Referee_RobotID_t;//
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// typedef enum {
|
||
// REF_CL_RED_HERO = 0x0101,
|
||
// REF_CL_RED_ENGINEER = 0x0102,
|
||
// REF_CL_RED_INFANTRY_1 = 0x0103,
|
||
// REF_CL_RED_INFANTRY_2 = 0x0104,
|
||
// REF_CL_RED_INFANTRY_3 = 0x0105,
|
||
// REF_CL_RED_DRONE = 0x0106,
|
||
// REF_CL_BLU_HERO = 0x0165,
|
||
// REF_CL_BLU_ENGINEER = 0x0166,
|
||
// REF_CL_BLU_INFANTRY_1 = 0x0167,
|
||
// REF_CL_BLU_INFANTRY_2 = 0x0168,
|
||
// REF_CL_BLU_INFANTRY_3 = 0x0169,
|
||
// REF_CL_BLU_DRONE = 0x016A,
|
||
// } Referee_ClientID_t;//选手端ID
|
||
typedef enum {
|
||
REF_CL_RED_HERO = 0x0101,
|
||
REF_CL_RED_ENGINEER = 0x0102,
|
||
REF_CL_RED_INFANTRY_1 = 0x0103,
|
||
REF_CL_RED_INFANTRY_2 = 0x0104,
|
||
REF_CL_RED_INFANTRY_3 = 0x0105,
|
||
REF_CL_RED_DRONE = 0x0106,
|
||
REF_CL_BLU_HERO = 0x0165,
|
||
REF_CL_BLU_ENGINEER = 0x0166,
|
||
REF_CL_BLU_INFANTRY_1 = 0x0167,
|
||
REF_CL_BLU_INFANTRY_2 = 0x0168,
|
||
REF_CL_BLU_INFANTRY_3 = 0x0169,
|
||
REF_CL_BLU_DRONE = 0x016A,
|
||
REF_CL_REFEREE_SERVER = 0x8080, /* 裁判系统服务器，用于哨兵和雷达自主决策 */
|
||
} Referee_ClientID_t;//选手端ID
|
||
|
||
|
||
// typedef enum {
|
||
// REF_STDNT_CMD_ID_UI_DEL = 0x0100,
|
||
// REF_STDNT_CMD_ID_UI_DRAW1 = 0x0101,
|
||
// REF_STDNT_CMD_ID_UI_DRAW2 = 0x0102,
|
||
// REF_STDNT_CMD_ID_UI_DRAW5 = 0x0103,
|
||
// REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104,
|
||
// REF_STDNT_CMD_ID_UI_STR = 0x0110,
|
||
|
||
// REF_STDNT_CMD_ID_CUSTOM = 0x0200,
|
||
// } Referee_StudentCMDID_t;
|
||
typedef enum {
|
||
REF_STDNT_CMD_ID_UI_DEL = 0x0100,
|
||
REF_STDNT_CMD_ID_UI_DRAW1 = 0x0101,
|
||
REF_STDNT_CMD_ID_UI_DRAW2 = 0x0102,
|
||
REF_STDNT_CMD_ID_UI_DRAW5 = 0x0103,
|
||
REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104,
|
||
REF_STDNT_CMD_ID_UI_STR = 0x0110,
|
||
REF_STDNT_CMD_ID_CUSTOM = 0x0200,
|
||
REF_STDNT_CMD_ID_SENTRY_CMD = 0X0120,
|
||
REF_STDNT_CMD_ID_RADAR_CMD = 0X0121,
|
||
} Referee_StudentCMDID_t;
|
||
|
||
typedef struct __packed {
|
||
Referee_StudentCMDID_t data_cmd_id;
|
||
uint16_t id_sender;
|
||
uint16_t id_receiver;
|
||
uint8_t *data;
|
||
} Referee_InterStudent_t;
|
||
|
||
typedef struct __packed {
|
||
uint8_t place_holder;
|
||
} Referee_InterStudent_Custom_t;
|
||
|
||
typedef struct {
|
||
Referee_Status_t ref_status;
|
||
Referee_GameStatus_t game_status; /* 0x0001 */
|
||
Referee_GameResult_t game_result; /* 0x0002 */
|
||
Referee_GameRobotHP_t game_robot_hp; /* 0x0003 */
|
||
// Referee_DartStatus_t dart_status;
|
||
// Referee_ICRAZoneStatus_t icra_zone;
|
||
Referee_FieldEvents_t field_event; /* 0x0101 */
|
||
//Referee_SupplyAction_t supply_action; /* 0x0102 */
|
||
Referee_RequestSupply_t request_supply; /* 0x0103 */
|
||
Referee_Warning_t warning; /* 0x0104 */
|
||
Referee_DartCountdown_t dart_countdown; /* 0x0105 */
|
||
Referee_RobotStatus_t robot_status; /* 0x0201 */
|
||
Referee_PowerHeat_t power_heat; /* 0x0202 */
|
||
Referee_RobotPos_t robot_pos; /* 0x0203 */
|
||
Referee_RobotBuff_t robot_buff; /* 0x0204 */
|
||
//Referee_DroneEnergy_t drone_energy; /* 0x0205 */
|
||
Referee_RobotDamage_t robot_danage; /* 0x0206 */
|
||
Referee_ShootData_t shoot_data; /* 0x0207 */
|
||
Referee_BulletRemain_t bullet_remain; /* 0x0208 */
|
||
Referee_RFID_t rfid; /* 0x0209 */
|
||
Referee_DartClient_t dart_client; /* 0x020A */
|
||
Referee_Robot_Position_t pos_sentry; /* 0x020B */
|
||
Referee_Radar_mark_data_t radar_mark; /* 0x020C */
|
||
Referee_Sentry_Info_t sentry_decision; /* 0x020D */
|
||
Referee_Radar_Info_t radar_decision; /* 0x020E */
|
||
// Referee_InterStudent_Custom_t custom;
|
||
Referee_Interaction_Data_t interactive_data; /* 0x0301 */
|
||
Referee_custom_robot_data_t custom_robot_data; /* 0x0302 */
|
||
Referee_ClientMap_t client_map; /* 0x0303 */
|
||
Referee_KeyboardMouse_t keyboard_mouse; /* 0x0304 */
|
||
Referee_map_robot_data_t map_robot_data; /* 0x0305 */
|
||
Referee_custom_client_data_t custom_keyboard_mouse; /* 0x0306 */
|
||
Referee_map_data_t sentry_pos_data; /* 0x0307 */
|
||
Referee_custom_info_t custom_info; /* 0x0308 */
|
||
Referee_robot_custom_data_t custom_data; /* 0x0309*/
|
||
|
||
osTimerId_t ui_fast_timer_id;
|
||
osTimerId_t ui_slow_timer_id;
|
||
} Referee_t;
|
||
|
||
typedef struct {
|
||
CMD_ChassisMode_t mode;
|
||
float angle;
|
||
} Referee_ChassisUI_t;
|
||
|
||
typedef struct {
|
||
float percentage;
|
||
CAN_CapStatus_t status;
|
||
} Referee_CapUI_t;
|
||
|
||
typedef struct {
|
||
CMD_GimbalMode_t mode;
|
||
} Referee_GimbalUI_t;
|
||
|
||
typedef struct {
|
||
CMD_ShootMode_t mode;
|
||
CMD_FireMode_t fire;
|
||
} Referee_ShootUI_t;
|
||
|
||
typedef struct __packed {
|
||
/* UI缓冲数据 */
|
||
UI_Ele_t grapic[REF_UI_MAX_GRAPIC_NUM];
|
||
UI_Drawcharacter_t character_data[REF_UI_MAX_STRING_NUM];
|
||
UI_Del_t del[REF_UI_MAX_DEL_NUM];
|
||
/* 待发送数量 */
|
||
uint8_t grapic_counter;
|
||
uint8_t character_counter;
|
||
uint8_t del_counter;
|
||
/* UI所需信息 */
|
||
Referee_CapUI_t cap_ui;
|
||
Referee_ChassisUI_t chassis_ui;
|
||
Referee_ShootUI_t shoot_ui;
|
||
Referee_GimbalUI_t gimbal_ui;
|
||
bool cmd_pc;
|
||
/* 屏幕分辨率 */
|
||
const CMD_Screen_t *screen;
|
||
} Referee_UI_t;
|
||
|
||
typedef struct __packed {
|
||
uint16_t data_cmd_id;
|
||
uint16_t sender_ID;
|
||
uint16_t receiver_ID;
|
||
} Referee_Interactive_Header_t;
|
||
|
||
typedef struct __packed {
|
||
Referee_Header_t header;
|
||
uint16_t cmd_id;
|
||
Referee_Interactive_Header_t IA_header;
|
||
UI_Drawgrapic_1_t data;
|
||
uint16_t crc16;
|
||
} Referee_UI_Drawgrapic_1_t;
|
||
|
||
typedef struct __packed {
|
||
Referee_Header_t header;
|
||
uint16_t cmd_id;
|
||
Referee_Interactive_Header_t IA_header;
|
||
UI_Drawgrapic_2_t data;
|
||
uint16_t crc16;
|
||
} Referee_UI_Drawgrapic_2_t;
|
||
|
||
typedef struct __packed {
|
||
Referee_Header_t header;
|
||
uint16_t cmd_id;
|
||
Referee_Interactive_Header_t IA_header;
|
||
UI_Drawgrapic_5_t data;
|
||
uint16_t crc16;
|
||
} Referee_UI_Drawgrapic_5_t;
|
||
|
||
typedef struct __packed {
|
||
Referee_Header_t header;
|
||
uint16_t cmd_id;
|
||
Referee_Interactive_Header_t IA_header;
|
||
UI_Drawgrapic_7_t data;
|
||
uint16_t crc16;
|
||
} Referee_UI_Drawgrapic_7_t;
|
||
|
||
typedef struct __packed {
|
||
Referee_Header_t header;
|
||
uint16_t cmd_id;
|
||
Referee_Interactive_Header_t IA_header;
|
||
UI_Drawcharacter_t data;
|
||
uint16_t crc16;
|
||
} Referee_UI_Drawcharacter_t;
|
||
|
||
typedef struct __packed {
|
||
Referee_Header_t header;
|
||
uint16_t cmd_id;
|
||
Referee_Interactive_Header_t IA_header;
|
||
UI_Del_t data;
|
||
uint16_t crc16;
|
||
} Referee_UI_Del_t;
|
||
|
||
typedef struct {
|
||
Referee_Status_t ref_status;
|
||
float chassis_watt;
|
||
float chassis_power_limit;
|
||
float chassis_pwr_buff;
|
||
} Referee_ForCap_t;
|
||
|
||
typedef struct {
|
||
Referee_Status_t ref_status;
|
||
uint16_t remain_hp;
|
||
uint8_t game_progress : 4;
|
||
uint16_t stage_remain_time;
|
||
} Referee_ForAI_t;
|
||
|
||
typedef struct {
|
||
Referee_Status_t ref_status;
|
||
float chassis_power_limit;
|
||
float chassis_pwr_buff;
|
||
} Referee_ForChassis_t;
|
||
|
||
typedef struct {
|
||
Referee_Status_t ref_status;
|
||
Referee_PowerHeat_t power_heat;
|
||
Referee_RobotStatus_t robot_status;
|
||
Referee_ShootData_t shoot_data;
|
||
} Referee_ForShoot_t;
|
||
|
||
/* Exported functions prototypes -------------------------------------------- */
|
||
int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui,
|
||
const CMD_Screen_t *screen);
|
||
int8_t Referee_Restart(void);
|
||
|
||
int8_t Referee_StartReceiving(Referee_t *ref);
|
||
int8_t Referee_Parse(Referee_t *ref);
|
||
void Referee_HandleOffline(Referee_t *referee);
|
||
int8_t Referee_SetHeader(Referee_Interactive_Header_t *header,
|
||
Referee_StudentCMDID_t cmd_id, uint8_t sender_id);
|
||
int8_t Referee_StartSend(uint8_t *data, uint32_t len);
|
||
int8_t Referee_MoveData(void *data, void *tmp, uint32_t len);
|
||
int8_t Referee_PackUI(Referee_UI_t *ui, Referee_t *ref);
|
||
UI_Ele_t *Referee_GetGrapicAdd(Referee_UI_t *ref_ui);
|
||
UI_Drawcharacter_t *Referee_GetCharacterAdd(Referee_UI_t *ref_ui);
|
||
uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd);
|
||
uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref);
|
||
uint8_t Referee_PackShoot(Referee_ForShoot_t *ai, Referee_t *ref);
|
||
uint8_t Referee_PackChassis(Referee_ForChassis_t *chassis,
|
||
const Referee_t *ref);
|
||
uint8_t Referee_PackAI(Referee_ForAI_t *shoot, const Referee_t *ref);
|
||
uint8_t Referee_UIRefresh(Referee_UI_t *ui);
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif
|